Collaborative Robot YuMi in Ball and Plate Control Application: Pilot Study

  • Lubos Spacek
  • Jiri Vojtesek
  • Jiri Zatopek
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 765)


Ball & Plate is a well-known concept and interesting example of an unstable process. Numerous types of Ball & Plate structure can be found and this paper tries to extend its potential of moving the whole plate in space by using an industrial robotic manipulator as the most flexible way to achieve this goal. The collaborative dual-arm robot YuMi from ABB is chosen for this task as the balance between precision and safety. The purpose of the paper is to investigate restrictions and boundaries of such solution, thus the model is identified and based on this identification is designed a controller, which is tested in a simulation environment.


Ball & Plate YuMi Robot LQ control Discrete-time 



This article was created with support of the Ministry of Education of the Czech Republic under grant IGA reg. n. IGA/CebiaTech/2018/002.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Process Control, Faculty of Applied InformaticsTomas Bata University in ZlinZlinCzech Republic

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